WO2006118286A1

WO2006118286A1 - Space information detecting device, and space information detecting system using the device

Info

Publication number: WO2006118286A1
Application number: PCT/JP2006/309071
Authority: WO
Inventors: Fumi Tsunesada; Yusuke Hashimoto; Fumikazu Kurihara; Yuji Takada; Atsushi Hironaka
Original assignee: Matsushita Electric Works, Ltd.
Priority date: 2005-05-02
Filing date: 2006-05-01
Publication date: 2006-11-09
Also published as: EP1879049A1; US20090079955A1; US7643131B2; JP2006308522A; EP1879049B1; JP4788187B2; TWI310653B; TW200644624A; EP1879049A4

Abstract

Provided is a space information detecting device which can project, even under circumstances where an environment light having a varying intensity exists in an object space, a light having an intensity modulated with a predetermined modulation signal, from a light source into the object space, and can receive the light from the object space with a light detecting element, thereby to detect the space information of the object space from the change between the light projected from the light source and the light received by the light detecting element. The device comprises smoothing means for integrating, for a predetermined integration period, the fluctuating component of such a quantity of the electric charge generated in the light detecting element by receiving the light from the object space as is generated by receiving the environment light, for the phase period specified in the modulating signal, thereby to smoothen that fluctuating component.

Description

Specification

Spatial information detection device and spatial information detection system using the same

The present invention relates to a spatial information detection device that receives light from a target space irradiated with intensity-modulated light and detects information about the target space.

Background art

[0002] Conventionally, it exists in the target space by receiving the light from the target space where the intensity-modulated light is projected and obtaining the phase difference of the modulation component between the projected light and the received light. A technique for obtaining spatial information such as the distance to an object is known. The spatial information detection device based on this technology, for example, introduces light whose intensity has been modulated at a predetermined modulation period into the target space, as introduced in the pamphlet of International Publication No. W096 / 15626 and the pamphlet of International Publication No. WO 2004Z008175. A light emitting source that emits light, a light detecting element that receives light from the target space and generates a charge corresponding to the amount of light received, light emitted from the light emitting source, and light received by the light detecting element The basic configuration is an evaluation unit that detects the spatial information of the target space from the change between the two.

[0003] By the way, this type of detection device projects intensity-modulated light into the target space, and therefore when detecting spatial information from a common target space by a plurality of detection devices, each detection device force target space When light is projected onto the light source, it becomes impossible to distinguish which light source of the detection device projects the light into the target space. In other words, each detection device cannot detect the light emitted by its own light source into the target space separately from other light (referred to as ambient light) present in the target space, so the detection accuracy of spatial information This causes the problem of lowering.

Disclosure of the invention

[0004] Therefore, the present invention has been made in view of the above-described problems, and its main purpose is to detect spatial information from a common target space by a plurality of spatial information detection devices, or to provide strength. To provide a spatial information detection device capable of accurately detecting desired spatial information from a target space even when fluctuating environmental light is present in the target space. That is, the spatial information detection device of the present invention receives a light source that projects light, which is intensity-modulated with a modulation signal having a predetermined modulation frequency, into the target space, light from the target space, A photodetecting element including a photosensitive portion that generates a charge corresponding to the light intensity, and a charge generated in the photosensitive portion in a period synchronized with a phase interval defined in the modulation signal among the charges generated in the photosensitive portion. An evaluation unit that detects spatial information, and a phase interval defined in the modulation signal of the amount of charge generated by the photosensitive unit by receiving the ambient light under a condition where ambient light with varying intensity exists in the target space. Smoothing means for smoothing the fluctuation component by accumulating the fluctuation component in a predetermined integration period.

[0006] According to the above-described spatial information detection device of the present invention, since the fluctuation component of the environmental light in the phase section defined in the modulation signal of the intensity-modulated light provided from the light source is integrated and smoothed, the target space It is possible to easily identify the fluctuation component in the phase interval of the intensity-modulated light received from the light and the fluctuation component in the phase interval of the ambient light.

[0007] In the spatial information detection device described above, the smoothing means integrates and smoothes the fluctuation component of the ambient light over a predetermined integration period for each of the two types of phase sections defined in the modulation signal of the light emission source, The evaluation unit obtains the difference between the charge amounts of the two types of phase sections out of the amount of charge received by the light detection element from the target space so as to cancel out the fluctuation component of the ambient light in the two types of phase sections. It is preferable to detect spatial information using. In this case, if the smoothing means integrates and smoothes the fluctuation component of the ambient light in a sufficient integration period for each of the two types of phase sections, these differences are substantially zero or can be ignored. Get smaller. Therefore, obtaining the difference between the charge amounts of the two types of phase intervals among the charge amounts received by the light detection element from the target space is the same as the charge amounts of the charge amount received by the light detection element from the target space. This is essentially equivalent to finding the difference in charge between the two phase sections. Therefore, according to the present invention, it is possible to reduce or eliminate the influence of ambient light existing in the target space, and accurately detect desired spatial information based on the amount of received intensity-modulated light from the target space. It is.

[0008] When the ambient light has a known frequency that is different from the modulation frequency of the light source, the smoothing means is based on the frequency difference between the modulation frequency of the light source's modulation signal and the frequency of the ambient light. It is preferable to integrate the fluctuation component of the ambient light over the integration period specified in the above. For example, when there is an ambient light component whose fluctuating frequency is known in the target space, such as when there is another spatial information detection device that shares at least part of the target space. However, since the modulation frequency of the modulation signal is different, the fluctuation component of the ambient light can be removed according to the principle described above. Here is the known frequency power of the ambient light ^

It is preferable that an integral multiple period of the beat component determined by the frequency difference between the modulation frequency of the light emitting source and the frequency of the ambient light is an integration period in the smoothing means. In addition, when there are multiple types of known frequencies of ambient light, the time when the integer multiples of each beat component determined by the frequency difference between the modulation frequency of the light source and each of the multiple frequencies of ambient light coincides. It is preferable to set the integration period in the smoothing means. In this case, ambient light components can be removed even when three or more spatial information detectors with known modulation frequencies are operated simultaneously.

[0009] The spatial information detecting device preferably includes a frequency selection unit that selects a modulation frequency of the light source from a plurality of preset modulation frequencies. In this case, when detecting spatial information from a target space that is shared at least in part by using a plurality of spatial information detection devices, different modulation frequencies may be set for the plurality of spatial information detection devices. Therefore, the ambient light component can be effectively removed even when a plurality of spatial information detection devices are operated simultaneously.

[0010] Further, the spatial information detection device preferably includes a frequency switching unit that changes the modulation frequency of the light source with time. In this case, as in the case where the frequency selection unit described above is provided, different modulation frequencies can be set for each of the plurality of spatial information detection devices. Therefore, even when a plurality of spatial information detection devices are operated simultaneously, The boundary light component can be effectively removed. In addition, when using a plurality of spatial information detection devices, it is possible to easily use the modulation frequency that needs to be individually set. Further, the frequency switching unit preferably changes the modulation frequency irregularly. In this case, even when the timing for changing the modulation frequency is not shifted, the probability that the modulation frequencies are equal in a plurality of detection devices can be reduced. Compared with the case where the modulation frequency changes regularly, the influence of environmental light components Can be reduced. [0011] Further, in the spatial information detection apparatus, interference that determines whether the presence of the environmental light affects the detection accuracy of the spatial information using the fluctuation component of the environmental light smoothed by the smoothing unit. It is preferable to include a determination unit. In addition, when the interference determination unit determines that the presence of the ambient light affects the detection accuracy of the spatial information, the modulation frequency of the light source modulation signal is changed until the influence of the ambient light falls within an allowable range. It is further preferable to provide a frequency switching unit to be operated.

As an example of a specific configuration of the above-described interference determination unit, for example, the spatial information detection device includes a light projection period in which light is projected from a light source to a target space, and light between the light source and the target space. It is preferable to include a light emission control unit that controls the light emission source so as to have a pause period during which light is not projected. In this case, the smoothing unit integrates the fluctuation components of the two types of phase sections defined in the modulation signal of the light source among the charges generated by the ambient light received by the photosensitive unit during the pause period during the integration period. Can be smoothed. Then, the interference determination unit compares the difference of the fluctuation component smoothed by the smoothing unit with respect to the charge generated by the ambient light received during the pause period, and compares the difference with the threshold value. It can be determined that the fluctuation component is greater than or equal to a preset allowable range. According to this configuration, a light projection period in which light is projected from a light source to a target space and a pause period in which light is not projected are provided intermittently, and a pause period in which intensity-modulated light is not projected. It is possible to evaluate and determine the influence of the fluctuation component of the ambient light using the ambient light component received at. According to this, for example, it is possible to easily determine whether other spatial information detection devices share the target space.

[0013] In addition, when the interference determination unit determines that the fluctuation component of the ambient light is greater than or equal to the allowable range, a frequency switching unit that changes the modulation frequency of the modulation signal of the light emission source until the difference becomes smaller than a threshold value. It is preferable to have. According to this configuration, when using a plurality of spatial information detection devices, it is possible to easily use the modulation frequency without having to individually set the modulation frequency, and it is also possible to provide a modulation frequency that can avoid mutual interference. Since it is set automatically, it becomes possible to detect spatial information with high accuracy under conditions where the influence of ambient light components is small.

[0014] The ambient light has a known frequency different from the modulation frequency of the modulation signal of the light source. In this case, the smoothing means detects the fluctuation component of the light source of the two types of phase sections defined in the modulation signal of the light source out of the amount of charge generated by the light received by the light detection element during the pause period. An integrated value is obtained in a predetermined integration period defined by the frequency difference between the frequency of the modulation signal and the frequency of the ambient light, and the evaluation unit calculates a light projection period when the difference between the integration values is less than or equal to a threshold value. Preferably, the spatial information is detected using the amount of charge obtained in the integration period. According to this configuration, the influence of the fluctuation component in the ambient light is determined using the difference between the integrated values obtained in the appropriate integration time during the pause period, and the obtained integration time in the projection period is obtained based on the determination result. It is determined whether to detect spatial information using the amount of charge that can be detected, so even if there is another spatial information detection device that shares the target space, highly reliable spatial information can be detected. It can be carried out.

[0015] The evaluation unit has a conversion table in which an intermediate value corresponding to a phase difference between light projected from the light source to the target space and light received by the light detection element is associated with the difference, Conversion table force It is preferable to determine the distance to the object existing in the target space by correcting the calculated intermediate value with a correction value determined according to the modulation frequency of the light projected from the light source to the target space. According to this configuration, the same conversion table can be used even if the modulation frequencies are different, and the manufacture of the spatial information detection device is facilitated by sharing the data. In addition, there is a risk that errors due to device characteristics may occur if calculations are performed using theoretical formulas, but by using a conversion table, data incorporating errors due to device characteristics can be set, and the distance to the object can be set. It can be obtained with stable accuracy.

A further object of the present invention is based on the same principle as described above, and when detecting spatial information from a target space at least partially shared by a plurality of spatial information detection devices, each detection is performed. It is an object of the present invention to provide a spatial information detection system capable of detecting spatial information with high accuracy.

[0017] That is, this spatial information detection system receives a light source that projects light that has been intensity-modulated with a first modulation signal into a target space, light from the target space, and charges according to the received light amount. A photodetecting element having a photosensitive portion to be generated, and a first modulation signal out of charges generated by the photosensitive portion. The first detection device having an evaluation unit that detects the spatial information of the target space using the charge generated in the period synchronized with the phase interval specified in the signal, and the intensity of the second modulation signal different from the first modulation signal A light emitting source that projects the modulated light onto the target space, a light detection element that receives light from the target space and generates a charge corresponding to the amount of received light, and a charge detector A second detection device having an evaluation unit that detects the spatial information of the target space using charges generated in a period synchronized with the phase interval defined in the second modulation signal,

The first detector receives the light from the target space and receives the light from the target space under the condition in which the light intensity-modulated by the first modulation signal and the light intensity-modulated by the second modulation signal simultaneously exist in the target space. Of the amount of charge generated by the photosensitive part of the detector, the fluctuation component in the phase interval specified in the first modulation signal of the amount of charge generated by receiving the light whose intensity is modulated by the second modulation signal is predetermined. And smoothing means for smoothing by integrating during the integration period.

In this case, the fluctuation component of the intensity-modulated light provided by the second detector force in the phase interval specified in the first modulated signal of the intensity-modulated light provided by the first detector is integrated over a predetermined integration time. Thus, the fluctuation component can be smoothed, so that the fluctuation component in the phase interval of the intensity-modulated light of the first detection device received from the target space and the phase interval of the intensity-modulation light of the second detection device in the phase interval. Fluctuating components can be easily identified. In particular, the smoothing means integrates and smoothes the fluctuation component of the intensity-modulated light of the second detector over a predetermined integration period for each of the two types of phase sections defined in the first modulation signal of the first detector. And the evaluation unit cancels out the fluctuation component of the intensity-modulated light of the second detector in the two types of phase sections, and the 2 of the electric charges received from the target space by the photodetecting element of the first detector It is preferable to obtain the difference in the amount of charge in the types of phase sections and detect the spatial information using the difference. In this case, for the same reason as described above, the influence of the intensity-modulated light of the second detection device is reduced or eliminated, and the desired amount of light is received based on the amount of received light in the phase section of the intensity-modulated light of the first detection device from the target space. It is possible to accurately detect the spatial information. Accordingly, each of the desired spaces from the target space that is at least partially shared by a plurality of spatial information detection devices of the same type. Even when detecting inter-space information, each detection device that is not affected by the intensity modulation light projected into the target space from another detection device itself has intensity modulation light that is projected into the target space. Therefore, the target spatial information can be accurately detected based on the above.

[0019] Further features of the present invention and its effects will be more clearly understood from the following best mode for carrying out the invention.

Brief Description of Drawings

FIG. 1 is a schematic block diagram of a spatial information detection device according to a first embodiment of the present invention.

FIG. 2 is a diagram showing an operation principle of the detection device.

FIG. 3 is a diagram showing a waveform profile in which different intensity-modulated lights are superimposed.

FIG. 4 is a diagram showing an example of light projection timing of the detection device.

FIG. 5 is a schematic block diagram showing a characteristic part of a spatial information detecting device according to a third embodiment of the present invention.

FIG. 6 is a diagram showing an example of interference determination in the third embodiment.

BEST MODE FOR CARRYING OUT THE INVENTION

In the embodiment described below, a distance measuring device that measures the distance to an object existing in the target space is exemplified as a spatial information detection device (hereinafter abbreviated as “detection device”). Spatial information is not limited to “distance”. For example, the spatial information includes information obtained by removing environmental light components such as the reflectance of an object existing in the target space, and luminance information of the object. It is also possible to generate luminance images that are not affected by ambient light intensity using luminance information. In addition, the distance measuring device described below generates a distance image in which a distance for each location in the target space is associated with each pixel by capturing an image of the target space.

(Basic configuration of detection device)

As shown in FIG. 1, the distance measuring device of the present embodiment includes a light source 2 that projects light into a target space, and a light detection element that receives light from the target space and provides an output that reflects the amount of received light 1 and are provided. The distance to the object Ob existing in the target space is the time from when light is projected from the light source 2 to the target space until the reflected light from the object Ob enters the light detection element 1 (“flight time”) Call). However, because the flight time is very short, By providing a modulation signal of the modulation frequency from the light emission control unit 3, the intensity of light projected from the light source 2 to the target space is modulated and projected to the target space, and the phase difference between the light and received light is modulated with respect to the modulation component of the light intensity. And a technique for converting this phase difference into time of flight is used. That is, the light emission control unit 3 controls the light emission source 2 so that the intensity of light projected to the target space changes at a constant period.

That is, as shown in FIG. 2, the intensity of light emitted from the light source 2 into the space is modulated so as to have a sine waveform as shown by a curve X, and the amount of light received by the light detection element 1 is If the curve changes as shown in curve Y, the phase difference corresponds to the time of flight, so the distance to the object Ob can be obtained by calculating the phase difference. In other words, the unit of phase difference is [rad

1. If the distance to the object Ob is L [m], the speed of light is c [m / s], and the angular frequency of intensity-modulated light is ω [rad / s], then L = φ 'c / 2 co.

[0023] Phase difference (M, can be calculated using the received light quantity of curve Y obtained at multiple timings of curve X. For example, phase force in curve X ^ ~ 90 degrees, 90 ~: 180 degrees, 180-2 The received light intensity of curve Y obtained at the timing of 70 degrees and 270 to 360 degrees is A0, Al, A

2 and A3 (in Fig. 2, the received light intensity A0, Al, A2, and A3 are indicated by hatching). In other words, the amount of received light A0, Al, A2, and A3 in each phase is an integral value of the period Tw of 90 degrees. Here, while obtaining the received light quantity A0, Al, A2, A3, the phase difference does not change (that is, the distance to the object 〇b does not change), and the reflectance of the object 〇b also changes. There shall be no. In addition, the intensity of the light emitted from the light source 2 is modulated with a sine wave, and the intensity of the light received by the light detection element 1 at time t is expressed as A 'sin (co t + δ) + Β . Where Α is the amplitude, B is the DC component (average value of the ambient light component and the reflected light component), ω is the angular frequency of the intensity-modulated light (ω = 2π ί; f is the modulation frequency), and δ is the initial phase is there. Here, it is assumed that the average value Β can be assumed to be constant during the period in which the received light amounts Α0, Al, 、 2, and A3 in the four phase sections are obtained. From these conditions, the phase difference φ can be expressed by the following equation, for example.

φ = tan ^{_ 1} (A2-A0) / (A1 -A3)

The above formula changes the sign or the phase is 90 degrees different depending on how to take the interval to be integrated (for example, in the above example, the force may be 180 degrees, where the phase width of one section is 90 degrees) In any case, the phase difference φ can be obtained by using the received light quantity A0, Al, A2, A3 in 4 sections.

[0024] Since it is necessary to modulate the intensity of light projected to the target space with a modulation signal having a relatively high modulation frequency, a light source with a fast response speed is used as the light emission source 2. For example, a light emitting source 2 can be formed by arranging a large number of light emitting diodes on one plane or a combination of a semiconductor laser and a diverging lens. The modulation signal for driving the light source 2 is output from the light emission control unit 3, and the intensity of light emitted from the light source 2 is modulated by the modulation signal. The light emission control unit 3 outputs, for example, a 10 MHz sine wave as a modulation signal. The waveform of the modulation signal may be a triangular wave, a sawtooth wave or the like in addition to the sine wave.

The photodetecting element 1 includes a plurality of photosensitive portions 11 that are regularly arranged. In addition, a light receiving optical system 5 is disposed in the light incident path to the photosensitive portion 11. Therefore, light from the target space enters the photosensitive portion 11 via the light receiving optical system 5, and an amount of electric charge corresponding to the amount of received light is generated. Further, the photosensitive portions 11 are arranged on the lattice points of the planar lattice, and are arranged in a matrix, for example, in the vertical direction (that is, the vertical direction) and in the horizontal direction (that is, the horizontal direction) at equal intervals. Is done.

The light receiving optical system 5 associates the line-of-sight direction when viewing the target space from the light detection element 1 with each photosensitive portion 11. That is, the range in which light enters each photosensitive portion 11 through the light receiving optical system 5 can be regarded as a conical field of view with a small apex angle set for each photosensitive portion 11 with the center of the light receiving optical system 5 as the apex. . Therefore, if the reflected light irradiated from the light source 2 and reflected by the object Ob existing in the target space is incident on the photosensitive part 11, the light of the light receiving optical system 5 depends on the position of the photosensitive part 11 that has received the reflected light. It is possible to know the direction in which the object Ob exists with the axis as the reference direction.

[0027] Since the light receiving optical system 5 is generally arranged so that the optical axis is orthogonal to the plane on which the photosensitive portion 11 is arranged, the center of the light receiving optical system 5 is the origin, and the vertical of the plane on which the photosensitive portions 11 are arranged If an orthogonal coordinate system is set in which the direction, the horizontal direction, and the optical axis of the light receiving optical system 5 are in three directions, the angle (the so-called azimuth) when the position of the object 0b existing in the target space is expressed in spherical coordinates. (Angle and elevation angle) correspond to each photosensitive area 11. The light receiving optical system 5 may be arranged so that the optical axis intersects with a plane other than 90 degrees with respect to the plane on which the photosensitive portions 11 are arranged. [0028] In the present embodiment, as described above, in order to obtain the distance to the object 0b, the received light amounts A0 of four phase sections synchronized with the intensity change of the light projected from the light source 2 to the target space Seeking A1, A2, A3. Therefore, it is necessary to control the timing to obtain the desired received light intensity A0, Al, A2, A3. In addition, since the amount of charge generated in the photosensitive portion 11 is small in one cycle of intensity change of light projected from the light source 2 to the target space, it is desirable to accumulate the charge over a plurality of cycles. Therefore, as shown in FIG. 1, there are provided a plurality of charge accumulating sections 13 for accumulating the charges generated in the photosensitive sections 11, and the timing for accumulating the charges generated in each photosensitive section 11 in the corresponding charge accumulating sections 13. A sensitivity control unit 12 is provided to control this.

[0029] The light detection element 1 used in the present embodiment has a plurality of (for example, 100 X 100) photosensitive portions.

11 is arranged in a matrix and is formed on a single semiconductor substrate. It is a CCD formed along each vertical column of the photosensitive area 11 to transfer charges in the vertical direction. A vertical transfer unit, and a horizontal transfer unit that is a CCD that receives charges from one end of the vertical transfer unit and transfers the charges in the horizontal direction. A transfer gate is provided between the photosensitive unit 11 and the vertical transfer unit.

The photodetecting element 1 has the same configuration as an interline transfer (IT) type CCD image sensor, and the charge extraction unit 14 shown in FIG. 1 includes a vertical transfer unit and a horizontal transfer unit. Function. The charge accumulating unit 13 represents a function of accumulating charges in a period until transfer is started in the vertical transfer unit.

[0031] By the way, the sensitivity control unit 12 is controlled by the light emission control unit 3 so as to increase the sensitivity in the four phase sections respectively corresponding to the received light amounts A0, Al, A2, and A3, and the received light amounts A0, Al , Charges corresponding to A 2 and A 3 are accumulated in the charge accumulating unit 13. Here, since a configuration similar to that of an IT-type CCD image sensor is adopted, the amount of charge accumulated from the photosensitive portion 11 to the vertical transfer portion is adjusted by controlling the transfer gate, and The function of the sensitivity control unit 12 is provided by using at least one of the configurations for adjusting the amount of charge to be discarded by providing a disposal electrode that can discard charges. That is, the transfer gate is controlled so that charges pass from the photosensitive unit 11 to the vertical transfer unit in the phase interval corresponding to the desired received light amount A0, Al, A2, A3, or other than the desired phase interval. By controlling the voltage applied to the discard electrode so as to discard the charge, the charge only in a desired phase period is accumulated in the vertical transfer unit, and the accumulated charge is transferred.

[0032] However, the light detecting element is projected from the light source 2 into the target space and reflected by the object 0b.

Since the intensity of the light incident on the photosensitive section 11 is small, charges corresponding to the received light amounts AO, Al, A2 and A3 in each section described above are charged within one period of the modulation period of the intensity-modulated light. Even if they are integrated in 13, the difference in the received light amounts AO, Al, A2, and A3 cannot be sufficiently large, and the distance measurement accuracy is lowered. Therefore, in actuality, after the charge generated corresponding to each section is integrated in the charge integration unit 13 over a plurality of periods (for example, 30,000 periods) of intensity-modulated light, the photodetecting element is passed through the charge extraction unit 14. Taken from 1. The light emission control unit 3 controls the timing of extracting the charge through the charge extraction unit 14.

Hereinafter, a period in which charges are accumulated in the charge accumulating unit 13 (that is, a period in which charges in the target section are generated in the photosensitive unit 11) is referred to as a light receiving period, and is accumulated in the charge accumulating unit 13. A period in which the extracted charges are taken out by the charge extraction unit 14 is called a readout period.

By the way, in the above configuration, when four adjacent photosensitive portions 11 are used as a set, the charge in each of the four sections described above in the four photosensitive portions 11 included in the set is stored in the charge integration portion. 13 can be accumulated. In other words, if the sensitivity control unit 12 corresponding to the four photosensitive units 11 in a set is controlled in association with the periods corresponding to the received light amounts A0, Al, A2, and A3, four charge integrations are performed. The unit 13 can accumulate charges corresponding to the received light amounts A0, Al, A2, and A3, respectively. With this kind of operation, it is possible to extract the received light intensity A0, Al, A2, A3 in four sections with only one light receiving period and one readout period, and use information within a relatively short time. The distance of the object 0b can be obtained. However, since the four photosensitive portions 11 correspond to one direction of the target space, the resolution is reduced to a quarter compared to the case where one photosensitive portion 11 corresponds to one direction of the target space. . In addition, since the photosensitive portions 11 at different positions are associated with one direction of the target space, each photosensitive portion 11 is more likely to receive reflected light from a different object Ob, and erroneous measurement with respect to distance is likely to occur. .

[0035] On the other hand, if one photosensitive portion 11 is associated with one direction of the target space, the resolution becomes high, and thus the erroneous measurement of the distance to the stationary object Ob can be reduced. Is required four times each, so the relative moving object Ob Mismeasurement of separation is likely to occur. Therefore, in the present embodiment, the two photosensitive portions 11 are used as a set, and the light receiving period and the reading period are used twice, corresponding to the received light amounts A0, Al, A2, A3 in four sections. A method of taking out electric charge is adopted. In other words, the first time out of the two light receiving periods takes out the charges corresponding to the received light amounts A0 and A2, and the second time takes out the charges corresponding to the received light amounts Al and A3.

The light reception output output from the above-described light detection element 1 is sent to the distance calculation unit 4 as an evaluation unit, and the distance calculation unit 4 receives the received light amounts A0, Al, A2, A3 in the above four phase sections. Is obtained as a light-receiving output, and the phase difference is obtained by applying the force applied to the above formula for obtaining the phase difference φ, or by applying it to the table corresponding to the formula, and the phase difference φ force to the object Ob Find the distance. Since the distance calculation unit 4 obtains distances in a plurality of directions of the target space, it can obtain three-dimensional information about the target space, and can generate a distance image in which distance values are associated with pixel values. It is. In the conversion table, the distance may be obtained instead of the phase difference.

[0037] By the way, the above equation for calculating the phase difference φ from the received light amounts A0, Al, A2, A3 in the four phase sections is the average value during the period in which the received light quantities Α0, Al, Α2, A3 in the four phase sections are obtained. This is based on the assumption that Β is constant, that is, the ambient light component does not change within the time required to obtain the received light amounts Α0, Al, Α2, and A3 in the four phase sections. Therefore, the phase difference φ cannot be obtained under conditions where the ambient light component fluctuates within each phase interval. The embodiment described below makes it possible to obtain the phase difference φ even when the ambient light component includes a fluctuation component that fluctuates within each phase interval.

[0038] (Embodiment 1)

In the present embodiment, as shown in FIG. 1, it is assumed that a plurality of ranging devices having the above-described configuration are arranged with at least a part of the target space in common. Each distance measuring device includes a light emission source 2, a light emission control unit 3, a light detection element 1, and a distance calculation unit 4. In addition, the light emission control unit 3 in the present embodiment is configured such that a plurality of types of modulation frequencies can be selected, and the light emission control unit 3 is provided with a frequency selection unit 6 for selecting the modulation frequency. The frequency selection unit 6 is configured using, for example, a DIP switch or a rotary switch. Alternatively, the frequency of the frequency selector 6 can be selected with a memory switch, A configuration in which the contents of the memory switch can be changed using a support device such as a data recorder may be adopted.

In the present embodiment, the modulation frequencies of the distance measuring devices are fixedly set to be different from each other. For example, when using three distance measuring devices, the modulation frequency can be set to 10 MHz, 12 MHz, and 15 MHz, respectively. In each distance measuring device, the received light amount corresponding to the received light amount A0, Al, A2, A3 in the specific phase interval synchronized with the modulation signal is taken out from the light detection element 1 and given to the distance calculation unit 4. Therefore, the light receiving output corresponding to the received light amount A0, A2 is taken out in one readout period in the light detecting element 1, and the received light amount corresponding to the received light amount Al, A3 in the other readout period. Receive light output.

[0040] Since each distance measuring device takes out the electric charge accumulated over many cycles of the modulation signal during the light receiving period, the light receiving output of the light detecting element 1 is modulated by the light projected from the other distance measuring device into the target space. Variation components of light having different frequencies are also included. For the sake of simplicity, considering that two ranging devices with modulation frequencies of 10 MHz and 12 MHz are operating in common, both ranging devices are shown in FIG. Thus, 12MHz light Z1 and 10MHz light Z2 are received simultaneously. In Fig. 3, the intensity S of the received light is depicted as being almost equal, in fact the light intensity is different in most cases. If a distance measuring device with a modulation frequency of 10 MHz receives light of two types of modulation frequencies at the same time, it corresponds to the curve Zl corresponding to the received light amount AO, Al, A2, A3 in each phase section corresponding to the curve Z2. Since the components in each phase interval are added, the received light amount in each phase interval corresponding to the curve Z2 from the received light amount obtained in each phase interval is about several times the modulation signal period AO, Al, A2, A3 Cannot be extracted.

[0041] The above-described problem arises because the received light amount AO, Al, A2, A3 in each phase section of the curve Z2 is added to a part of the phase section of the curve Zl. Yes. In other words, if the integrated value for a period long enough to add the components of all phases of the curve Z1 to the components corresponding to the received light amount AO, Al, A2, A3 in each phase interval of the curve Z2, In the integrated value, the component of curve Z1 is smoothed so as to be almost constant for any phase interval of curve Z2, and as a result, the component of integrated value force curve Z2 can be extracted. Actually In the embodiment, the smoothing is performed by the smoothing means 41 provided in the distance calculation unit 4 as the evaluation unit.

The distance calculation unit 4 obtains the distance after performing such integration for smoothing.

However, if the integrated value for each phase interval is obtained, the integrated value is also large because the ambient light component is also integrated in addition to the reflected light component. For example, if digital signal processing is performed, the number of bits corresponding to the integrated value increases, and a memory or the like for storing the integrated value requires a large capacity. On the other hand, as described above, the distances A0−A2 and A1−A3 are used for calculating the distance. In such a difference, components that do not vary among the ambient light components are removed. Therefore, if this difference is integrated, the integrated value can be greatly reduced.

[0043] The present embodiment utilizes such characteristics. In the distance calculation unit 4 as the evaluation unit, the frequency difference between the modulation frequencies of the detection devices (that is, the fluctuation period in the ambient light component is known). For the integrated time defined by the periodic difference at a certain time, the integrated value of the difference in received light quantity (AO-A2) and (Al-A3) is obtained, and the distance is obtained using this integrated value. It is desirable to set the integration time to one cycle (or integer multiple cycle) of the beat component determined by the frequency difference of the modulation frequency of each detector. That is, since the frequency difference between the curve Z1 component and the curve Z2 component is relatively small, a beat component corresponding to the frequency difference between the two occurs. If the integrated value is calculated with this beat component period, it means that the beat component has been removed.Therefore, if one period of the beat component determined by the frequency difference of the modulation frequency is set as the integration time, the influence of the mutual modulation frequency is affected. Ambient light components can be removed by canceling.

[0044] As described above, assuming that the modulation frequency forces of the three detectors are set to 10MHz, 12MHz, and 15MHz, respectively, and the distance is obtained in the 10MHz detector, the frequency difference is 2MHz and 5MHz, respectively. Will produce the beat component. Therefore, the ambient light component can be removed if the integration time is defined as the time at which the integral multiples of the beat components coincide. Since in the above-described frequency is one period of the beat component becomes a 5 X 10_ ⁷ s and 2 X 10 ^{_ 7} s respectively, minimum time integral multiple cycle of two match becomes 1 beta s. Therefore, if the integration time is set to 1 μs or an integral multiple of this, it is possible to accurately obtain the distance by offsetting the influence of the light emitted by the other detectors and the power without using three detectors. It will be possible.

[0045] By the way, if the integration time is sufficiently long, the influence of the error represented by the vibration change within the beat component period on the integrated value is small. Therefore, the above condition (integration time is an integer of each beat component) If the integration time is sufficiently long, the error can be ignored even if the condition of matching the double period is not fully satisfied. For example, it has been confirmed that if the integration time is 30,000 cycles of the modulation signal, it does not have to match the integral multiple cycle of each beat component.

In the present embodiment, since the modulation frequency of the detection devices that share the target space is known, each received light amount A0, Al at an appropriate time interval according to the modulation frequency of each detection device. If the phase interval for obtaining A2, A3 is set, simply calculating the difference (AO—A2), (A1—A3) of the amount of received light will cancel out the components of the ambient light component that vary within the phase interval. It is possible.

[0047] By using the integrated values of the differences (AO—A2) and (Al—A3) obtained as described above, the light projected from the light source 2 to the target space and the light sensitive elements 1 The phase difference Φ with the reflected light component of the light received at section 11 can be found. If the unit of phase difference is radians, the distance L to the object Ob can be expressed as L = Lm-φ / 2π. However, Lm = c / 2f, where f is the modulation frequency and c [m / s] is the luminous flux. In short, according to the above principle, the distance traveled in one cycle of the modulation signal is the maximum measurable distance Lm, and when the phase difference φ is 2π, it is considered to correspond to the maximum distance Lm. By finding the ratio of the phase difference Φ to 2π, the distance L to the object Ob that reflects the light can be found.

[0048] Force capable of obtaining the distance L by the theoretical formula as described above In reality, an error occurs with respect to the value of the theoretical formula depending on the arrangement and characteristics of each member. The error generally varies with distance. Therefore, the distance calculated by the theoretical formula needs to be corrected. It is possible to provide a data table in which such correction values are associated with distances. If a force data table is provided, it is more efficient to perform the operation itself with the data table. Therefore, in the present embodiment, a conversion table for obtaining a value corresponding to the distance from the set of differences (A0_A2) and (Al−A3) is used as the data table. here, As described above, since the distance L varies depending on the maximum measurable distance Lm, if the modulation frequency is switched by the frequency selector 6, a different conversion table is required. It is possible to provide a plurality of conversion tables according to the modulation frequencies that can be selected in this way. It takes time to register the data of the force conversion table, and the capacity of the semiconductor memory constituting the conversion table is increased. I need something big.

[0049] In such a case, one type of conversion table is provided regardless of the modulation frequency, and the difference (AO

_A2), (Al _ A3) It is preferable to use a technique to find the distance by finding the intermediate value corresponding to the combined phase difference of the (Al_A3) and correcting this intermediate value with the correction value according to the modulation frequency. . For example, if a value corresponding to (c ′ ^ / 4π) is obtained as an intermediate value and a coefficient corresponding to (1 / f) is used as a correction value, the distance to the object Ob is calculated by multiplying the intermediate value by the coefficient. L can be obtained. Here, errors due to the arrangement and characteristics of each member are folded into intermediate values. Alternatively, a value corresponding to the phase difference can be obtained as an intermediate value, and (c / 4π * f) can be used as a correction value. The intermediate value and the correction value can be selected as appropriate.

[0050] As described above, if the intermediate value is obtained from the set of differences (A0-A2) and (A1-A3), and the intermediate value is corrected according to the modulation frequency, the conversion table becomes the modulation frequency. It is only necessary to prepare one type without depending on it, reducing the labor of registering data, and reducing the capacity of the semiconductor memory used for the conversion table.

(Embodiment 2)

In Embodiment 1 described above, the modulation frequency of each of the plurality of detection devices is fixedly set by the frequency selection unit 6, but in this embodiment, the modulation frequency of each detection device is automatically set as time elapses. A configuration that changes is adopted. Therefore, the present embodiment is different from the first embodiment in that a frequency switching unit (not shown) that automatically changes the modulation frequency with the passage of time is provided instead of the frequency selection unit 6. Since the configuration and operation of are substantially the same as those of the first embodiment, redundant description will be omitted.

[0051] The frequency switching unit automates the selection of the modulation frequency in the frequency selection unit 6, and automatically selects the modulation frequency as time elapses, and the selection operation is linked to the timer function. . In this way, the modulation frequency is automatically changed over time. Therefore, it does not take time to set the modulation frequency. It is desirable that the time for changing the modulation frequency is longer than the integration time described in the first embodiment. This is because if the modulation frequency changes during the integration time, it cannot be guaranteed that the influence of the light projected from other detection devices will be almost cancelled. In addition, it is desirable that the timing for changing the modulation frequency varies among the detection devices. If the timing at which the modulation frequency is changed is different, the probability that the modulation frequencies are equal in a plurality of detection devices sharing the target space can be reduced. Furthermore, if the modulation frequency is changed irregularly in the frequency switching section, the probability that the modulation frequencies are equal in a plurality of detection devices can be reduced by more / J even when the timing for changing the modulation frequency is not shifted. That power S.

(Embodiment 3)

As described above as the basic configuration of the detection device, the light detection element 1 reads the charge corresponding to the received light amount (A0, A2) or (A1, A3) in the two phase sections in one readout period. It is sticking out. Therefore, in order to read out the charges in the four phase intervals, two light receiving periods and two readout periods are required. In other words, the distance can be measured by alternately repeating the light receiving period and the reading period and providing the light receiving period and the reading period twice. In addition, since light emission from the light source 2 is unnecessary during the readout period, the readout period is set to coincide with a pause period during which light emission from the light source 2 is not performed, and the light reception period is projected from the light source 2 into the target space. It is desirable to match with the floodlighting period. In short, it is desirable that the light receiving period and the readout period defined for the operation of the light detection element 1 are made to coincide with the light projecting period and the rest period defined for the operation of the light emitting source 2, respectively. The operation of the light emission source 2 for determining the light projection period and the rest period is controlled by the light emission control unit 3.

[0052] For example, as shown in FIG. 4, the light receiving period T02 that generates charges corresponding to the received light amounts A0 and A2 coincides with the light projecting period of the light source 2, and the charges corresponding to the received light amounts Al and A3. The generated light reception period T13 coincides with the next light emission period of the light source 2. Further, the readout period Td corresponding to each light receiving period T02, T13 coincides with the rest period of the light emitting source 2.

Incidentally, as described above, the light receiving periods T02 and T13 and the reading period Td are normally repeated alternately. However, as shown in FIG. 4, in this embodiment, the light receiving period that does not coincide with the light projecting period is used. period Te is provided at an appropriate timing. In other words, the light detection element 1 is provided with a readout period Td for reading out charges generated during the light reception period Te as in the light reception periods T02 and T13, but the light reception period Te is set as a pause period during which light is not emitted from the light source 2. Is different from the light receiving periods T02 and T13. In short, in the light emitting source 2, the period corresponding to the light receiving period Te in addition to the period corresponding to the readout period Td is also a pause period.

[0054] In the light receiving period Te, the light source 2 of the detection device does not project light, so that the light detecting element 1 receives only the ambient light component in the light receiving period Te. Here, if the intensity of the ambient light has not changed substantially, the difference between the received light amounts of the two different phase sections in the pause period is ideally zero. On the other hand, even when the intensity of the ambient light varies substantially, on a long time scale, as described above, the integrated value in the integrated time is obtained to smooth out the fluctuation and cancel it out. can do. Therefore, it is possible to determine whether or not the ambient light component affects the distance measurement accuracy by comparing the received light amounts of the two phase sections in a predetermined integration time.

From the above viewpoint, in the present embodiment, as shown in FIG. 5, the distance calculation unit 4 is provided with an interference determination unit 42 for performing the above-described determination. The interference determination unit 42 calculates a difference (AO-A2) between two phase sections that differ by 180 degrees in the light reception period Te of only the ambient light component (integrated value obtained by the integration time), and uses this difference as a predetermined threshold value. To determine whether the ambient light component affects the ranging accuracy. Then, the interference determination unit 42 obtains the distance by the calculation unit 43 only when the difference between the integrated values is equal to or less than the threshold value. Such an operation ensures the accuracy of distance measurement.

[0056] On the other hand, if the difference between the integrated values is larger than the threshold value, it means that the ambient light component affects the distance measurement accuracy, so the distance is not calculated by the calculation unit 43, and the interference determination unit In 42, the modulation frequency determined not to be affected by the ambient light component is automatically searched, or until the difference becomes smaller than the threshold, that is, the influence of the ambient light component is within the allowable range. It is preferable to change the modulation frequency until it is determined that there is. For example, in the present embodiment, a frequency switching unit 7 that changes the modulation frequency according to the determination result of the interference determination unit 42 is provided. The frequency switching unit 7 is configured to change the modulation frequency so as to change the modulation frequency when the interference determining unit 42 determines that the ambient light component is affected. To instruct. In this way, since the frequency switching unit 7 automatically changes the modulation frequency so that it is not affected by the ambient light component, setting of the modulation frequency does not take time and the influence of the ambient light component is within the allowable range. As a result, the spatial information can be detected with high accuracy. Other configurations and operations are the same as those in the first embodiment.

In the above description, with respect to the light reception period Te of only the ambient light component, that is, the light reception amount in the pause period, the difference between the integrated values in the two phase sections that are 180 degrees different from each other is compared with the threshold value to influence the influence of the ambient light component. Although judged, the judgment method of ambient light is not limited to the use of the amount of received light during the rest period. Further, the object to be compared with the threshold is not necessarily limited to the difference between the integrated values. Furthermore, the integrated value may be obtained in two different phase intervals other than 180 degrees. In short, the interference determination unit is the fluctuation component of the ambient light smoothed by the smoothing means, out of the received charge in at least one phase interval, regardless of whether it is a light projection period or a light emission pause period. It is only necessary to determine whether the presence of the ambient light affects the detection accuracy of spatial information (interference). For example, the value smoothed by the smoothing means in a certain phase section is compared with a predetermined threshold value, and if the value is larger than the threshold value, the fluctuation component of ambient light is outside the preset allowable range, that is, It is possible to determine that there is ambient light interference. When the interference determining unit determines that the environmental light fluctuation component is outside the allowable range, the frequency switching unit changes the modulation frequency of the modulation signal of the light source until the environmental light fluctuation component falls within the allowable range. It is preferable to provide the same as described above.

[0058] The interference determination unit will be further described. For example, with respect to the phase section AO (which may be any of A1, A2, and A3) in FIG. 2, as shown in FIG. When the total amount of light received in light period 1 is Q1, if there is an influence of ambient light, the amount of light received includes the received light string corresponding to the fluctuation component smoothed in environment light projection period 1. Yes. Similarly, regarding the phase interval AO in FIG. 2, when the total amount of light received in the next light projection period 2 is Q2, if there is an influence of ambient light, the amount of light received is smoothed in the light projection period 2 of ambient light. The received light intensity corresponding to the converted fluctuation component is included. Here, if the fluctuation component of the ambient light is constant, the difference in the amount of received light is ideally zero (Q1-Q2 = 0). However, when the fluctuation component of the ambient light fluctuates (α ≠ α ′), the difference does not become zero (Q1−Q2 ≠ 0). Therefore, If the specified threshold value / 3 is set and the absolute value of this difference is greater than the threshold value, it is determined that there is an influence (interference) of ambient light. If the absolute value of the difference is less than or equal to the threshold value β, there is no influence of environmental light. It can be determined.

[0059] In addition, it is possible to determine the influence of ambient light by using the variation of the distance calculation value. For example, the difference between the first distance calculation value XI and the second distance calculation value Χ2 is obtained, and if the absolute value of the difference is larger than a predetermined threshold 0, it is determined that there is an influence (interference) of ambient light. If the absolute value of the difference is less than or equal to the threshold value γ, it can be determined that there is no influence of ambient light. Furthermore, fluctuations in the difference between two types of phase intervals (for example, phase interval AO— Α2) and variations in the sum of the four phase intervals (for example, AO + A1 + A2 + A3) can be used for interference determination. ,.

[0060] In each of the above-described embodiments, the same configuration as the IT type CCD image sensor is adopted. The same configuration as the frame 'transfer (FT) method and the frame' interline 'transfer (FIT) method is used. It is also possible to do. In addition, when the IT system configuration is used for charge transfer, the charge control unit 12 controls the gate unit that delivers charges from the photosensitive unit 11 to the charge extraction unit (vertical transfer unit), as well as the sensitivity control unit 12. It is also possible to adopt a configuration such as this.

Industrial applicability

As described above, according to the present invention, in addition to the light whose intensity is modulated at the predetermined modulation frequency projected from the spatial information detection device to the target space, the light whose intensity varies is transmitted from the illumination lamp or the like to the target space. Even if it is irradiated or light that has been intensity-modulated at a different modulation frequency from another detector is projected into the same target space, the influence of these ambient light components can be reduced or eliminated. Target spatial information can be detected with high accuracy. Therefore, it is expected to be used in a wide range of fields, including crime prevention systems and factory automation (FA) systems, as highly reliable spatial information detection devices regardless of the usage environment.

Claims

The scope of the claims

[1] a light source that projects light, which is intensity-modulated with a modulation signal having a predetermined modulation frequency, into a target space;

A light detection element including a photosensitive portion that receives light from the target space and generates a charge according to the amount of light received;

An evaluation unit that detects spatial information of the target space using a charge generated in a period synchronized with a phase interval defined in the modulation signal among charges generated in the photosensitive unit;

Under the condition that ambient light with varying intensity exists in the target space, the fluctuation component in the phase interval defined by the modulation signal of the amount of charge generated by the photosensitive portion upon receiving the ambient light is obtained. A spatial information detecting device comprising: smoothing means for performing integration and smoothing during a predetermined integration period.

[2] The smoothing means integrates and smoothes the fluctuation component of the ambient light over the predetermined integration period for each of the two types of phase sections defined in the modulation signal of the light source, and the evaluation unit In order to cancel out the fluctuation component of the ambient light in the two types of phase sections, a difference between the two types of phase sections among the amount of charges received by the light detection element from the target space is obtained, and the difference is used. 2. The spatial information detecting device according to claim 1, wherein the spatial information is detected.

[3] The ambient light has a known frequency different from the modulation frequency of the light source, and the smoothing means performs a frequency difference between the modulation frequency of the modulation signal of the light source and the frequency of the ambient light. 2. The spatial information detection device according to claim 1, wherein the fluctuation component is integrated over an integration period defined by

[4] When the frequency of the ambient light is one type, the integral period is an integral multiple of the beat component determined by the frequency difference between the modulation frequency of the light source and the frequency of the ambient light. The spatial information detection device according to claim 3.

[5] When there are a plurality of types of ambient light frequencies, the integral multiple period force S of each beat component determined by the frequency difference between the modulation frequency of the light source and each of the plurality of ambient light frequencies S-match 4. Spatial information according to claim 3, characterized in that the accumulation time is the integration period Detection device.

6. The spatial information detection device according to claim 1, further comprising a frequency selection unit that selects a modulation frequency of the light emitting source from a plurality of preset modulation frequencies.

7. The spatial information detecting apparatus according to claim 1, further comprising a frequency switching unit that changes the modulation frequency of the light emitting source with time.

8. The spatial information detecting apparatus according to claim 7, wherein the frequency switching unit changes the modulation frequency irregularly.

[9] It includes an interference determination unit that determines whether the presence of the ambient light affects the detection accuracy of the spatial information using the fluctuation component of the ambient light smoothed by the smoothing means. The spatial information detection device according to claim 1, wherein

[10] If the interference determination unit determines that the presence of the ambient light affects the detection accuracy of the spatial information, the modulation signal of the light source is not changed until the influence of the environmental light is within an allowable range. The spatial information detection device according to claim 9, further comprising a frequency switching unit that changes the modulation frequency.

[11] A light emission control unit that controls the light emission source so as to have a light projection period in which light is projected from the light emission source to the target space and a pause period in which light is not projected from the light emission source to the target space. The spatial information detection device according to claim 1, wherein:

[12] The smoothing means integrates the fluctuation components of the two types of phase sections defined in the modulation signal of the light emitting source out of the charges generated by the ambient light received by the photosensitive unit during the pause period. 12. The spatial information detection device according to claim 11, wherein the spatial information is smoothed by integration over a period of time.

[13] The difference of the fluctuation component smoothed with respect to the charge generated by the ambient light received during the pause period is compared with a threshold value. When the difference is larger than the threshold value, the fluctuation component of the ambient light is previously 13. The spatial information detection apparatus according to claim 12, further comprising an interference determination unit that determines that the set allowable range is exceeded.

[14] When the interference determination unit determines that the fluctuation component of the ambient light is greater than or equal to an allowable range, a frequency switching unit that changes the modulation frequency of the modulation signal of the light source until the difference becomes smaller than a threshold value. 14. Spatial information detection according to claim 13, apparatus.

[15] The ambient light has a known frequency different from the modulation frequency of the modulation signal of the light emitting source, and the smoothing means has a charge amount generated by light received by the light detection element during a pause period. Among the fluctuation components of the two types of phase intervals specified in the modulation signal of the light source, the integrated value is obtained in the integration period specified by the frequency difference between the frequency of the modulation signal of the light source and the frequency of the ambient light. 12. The evaluation unit according to claim 11, wherein when the difference between the integrated values is equal to or less than a threshold value, the evaluation unit detects spatial information using a charge amount obtained in the integration period during a light projection period. The described spatial information detection device.

[16] The evaluation unit includes a conversion table in which an intermediate value corresponding to a phase difference between the light projected from the light source to the target space and the light received by the light detection element is associated with the difference, Conversion table force The distance to the object existing in the target space is obtained by correcting the calculated intermediate value with a correction value determined according to the modulation frequency of the light projected from the light source to the target space. The spatial information detection device according to claim 2.

[17] A light detection element including a light emitting source that projects light, which is intensity-modulated by the first modulation signal, into a target space, and a photosensitive unit that receives light from the target space and generates a charge corresponding to the amount of received light And an evaluation unit that detects spatial information of the target space using the charge generated in a period synchronized with the phase interval defined in the first modulation signal among the charges generated in the photosensitive unit. A light source that projects light, which is intensity-modulated by a second modulation signal different from the first modulation signal, into the target space, and a photosensitive that receives the light from the target space and generates a charge corresponding to the amount of received light. And an evaluation unit that detects spatial information of the target space using the charge generated in the period synchronized with the phase interval defined in the second modulation signal among the charges generated in the photosensitive part. A second detection device having

The first detector receives the light from the target space and receives the light from the target space under the condition in which the light intensity-modulated by the first modulation signal and the light intensity-modulated by the second modulation signal simultaneously exist in the target space. Of the amount of charge generated by the photosensitive part of the detector, the fluctuation component in the phase interval specified in the first modulation signal of the amount of charge generated by receiving the light whose intensity is modulated by the second modulation signal is predetermined. A spatial information detection system comprising smoothing means for smoothing by integrating during the integration period.